myGym 4.0

Changelog:

• new humanoids - Unitree G1
• new unittests
• new scripts for better test of robots and tasks
• updates in oraculum
• robot repositioned to the same coordinate system
• rbot urdf updates
• IK solver update
• robot control update with preparation to body parts control
• preparation for PRAG

myGym 3.10

myGym 3.10

changelog:

Stable Baselines 3
Gymnasium
new multippo implementation
multiprocessing on any number of CPU
Nico robot and envs
weight visualization
training visualization with subgoal analysis
oraculum method to test novel tasks
protorewards
atomic actions

v3.7

myGym 3.7

changelog:

new robots (Nico, Tiago, HSR)
new workspaces (human collaborative, Tiago table, Nico table)
new algorithms for multi-step training
visualization of multiple tranings in one graph
sim2real for Nico robot
new compositional rewards

myGym 2.2.1

Changelog:

• fixed IK bug with end effector and gripper navigation
• fixed bug with observation space
• languade module WIP
• new humanoid robot Thiago
• new algoritms for multi-policy - MultiACKTR

myGym 2.1.2

CHANGELOG:

• new visualization of training progress for multiple runs with variability - visaversucces.py
• fixed bugs with multi step rewarding
• new multi network algorithm - multiPPO2
• new task with diverse subgoals - Pick and rotate

myGym 2.1

Changelog:

• new URDF with robot automatic robot gripper annotation
• new robot upload and gripper control
• magnetic and mechanic gripper operation
• new tasks for multi step manipulation
• keyboard control of robots in test.py
• new observation definition
• robot force and speed control in config

myGym 2.0

Changelog:

• Tested support for Tensorflow 2.0
• Success training of PNP tasks
• Support for multi-step tasks
• Ability to train multiple networks within one tasks

myGym 1.5

Changelog:

• Faster implemetation of the training algorithms
• Novel tasks - press,turn, switch
• Better evaluation of the results
• Novel reward functions
• Template for own implementation of NN

myGym 1.0

First release of myGym toolbox